CN115342691A - Bionic single-wing distributing and scattering device for clustered top-attacking ammunition - Google Patents
Bionic single-wing distributing and scattering device for clustered top-attacking ammunition Download PDFInfo
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- CN115342691A CN115342691A CN202210937567.6A CN202210937567A CN115342691A CN 115342691 A CN115342691 A CN 115342691A CN 202210937567 A CN202210937567 A CN 202210937567A CN 115342691 A CN115342691 A CN 115342691A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
- F42B10/60—Steering arrangements
- F42B10/62—Steering by movement of flight surfaces
- F42B10/64—Steering by movement of flight surfaces of fins
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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Abstract
The invention provides a bionic single-wing distributing and scattering device for clustered top-attacking ammunition. Enabling the bionic pterides to generate stable spinning and fall in a decelerating way; the main wing and the flap form a single wing layout to provide main lift and spin torque; the alternation of three stagnation modes of speed reduction, gliding and diving is realized by controlling the swing change of the flap; the period control flap is adopted to swing to generate circumferential unbalanced force to realize glider maneuvering; and accurate target hit is realized by adopting cluster networking to search and distribute tracking tasks in a coordinated manner. The single-wing spreader can change the formation of the network in a self-organizing way, adapt to the dynamic change of the environment, search the target in a coordinated way, distribute the attack task, track the target and hide by self.
Description
Technical Field
The invention relates to a cluster intelligent ammunition technology, in particular to a bionic wing fruit single-wing type distributing device.
Background
The top protection of a common armored vehicle is weak, and modern intelligent smart ammunition usually chooses to attack the top of the vehicle. The end sensitive bomb is a typical top-attacking ammunition, and most of the existing end sensitive bombs adopt a mode of a rotating parachute to enable the end sensitive bomb to stably fall and rotate for scanning. Because the mobility of the parachute-descending tail-sensing ammunition is poor and the parachute-descending tail-sensing ammunition is easily interfered by environmental wind, the ammunition is usually formed into a warhead by explosion with a long shooting distance, so that the ammunition body has large mass, the flexibility of a trajectory is difficult to improve, and the ammunition body is easy to identify and counter-act.
Chinese patent 201410361342.6 discloses an intelligent telescopic wing for end-sensitive ammunition, which adopts a telescopic wing to realize the deceleration of an ammunition body. However, the wings can only stretch and retract along the radial direction of the projectile body, and are not provided with a rotation guiding structure and a scanning detection structure, so that the requirements of flight flexibility and clustering are not met.
Disclosure of Invention
The invention aims to provide a clustered intelligent top-attacking ammunition, wherein a single-wing type self-rotating distributor is designed through a maple seed and a winged fruit in a bionic nature, and a ground target cluster can be attacked from the upper air.
The technical solution for realizing the purpose of the invention is as follows: the utility model provides a bionical single wing of top ammunition cloth of crowd attacking scatters ware which characterized in that: a plurality of distributor individuals form a cluster, the distributor individuals are carried to the upper space of a target through a piloting airplane and are distributed in the cluster, the distributor individual simulates the pneumatic layout of the wings and fruits of the maple seeds in nature, so that the distributor individual can rapidly and automatically spin and descend at a reduced speed when falling; the distribution device cluster is provided with a real-time formation ' captain ', the captain ' communicates with a piloting plane and other distribution device individuals, each distribution device individual can be designated as the ' captain ', and the distribution device individuals communicate with each other through networking; the piloting plane is used for searching targets and controlling the formation change and maneuvering change of the cluster; the spreader cluster can self-organize network transformation formation, self-adaptive environment maneuvering change, collaborative target search, attack task allocation, target tracking and self stealth.
The spreading device individual comprises a wing flap, a wing flap controller, a body, an elastomer controller, an electronic system, a body counterweight block, a sensor controller, a main wing, a wing flap counterweight block and a main wing counterweight block.
The body remains horizontal when spinning down; the bomb body, the bomb body controller, the electronic system, the sensor and the sensor controller are all arranged on the body.
The wing flap, the fuselage and the main wing are respectively and correspondingly provided with a wing flap balancing weight, a fuselage balancing weight and a main wing balancing weight, and the mass size and the installation position of the wing flap, the fuselage balancing weight and the main wing balancing weight are adjusted to further match the proper dynamics and kinematics characteristics for the distributor individual, so that the working stability of the distributor individual is ensured;
the main wing and the wing flap are both flat plate wings and are fixed on the same side of the fuselage, the wing flap is positioned above the main wing, and the wing profiles are designed according to the bionic wing-fruit flying principle and are used for providing main lifting force and self-spinning torque and ensuring that the spreader individual can quickly enter self-spinning and stably decelerate to fall under any posture; the main wing is fixedly connected with the fuselage and is provided with a wing panel inclination angle beta, namely a spinning horizontal plane omega 1 With main wing plane omega 2 The included angle is used for improving the individual rotation stability of the spreader; the flap controller is used for controlling flap swing angle gamma generated by flap swing relative to the main wing, namely main wing plane omega 2 With the flap plane omega 3 The main wing and the flap are ensured to be attached along the intersecting line, so that the aerodynamic force and aerodynamic moment of the wing panel are controlled and changed in real time, and the individual body of the spreader is ensured to fall stably; the individual maneuverability of the dispenser is achieved by controlling the flap swing angle gamma.
The electronic system is used for controlling the clustering, detection and maneuvering of the individual dispensers; the cluster comprises networking communication, collaborative search, attitude calculation and task allocation functions; for detection, the functions of target identification, coordinate positioning and scanning control are included; and the maneuvering system comprises flight control and environment monitoring functions.
Compared with the prior art, the invention has the remarkable advantages that:
(1) The distributor individual adopts the pneumatic appearance and mass distribution design of the maple seed winged fruit in the bionic nature, and can rapidly enter a self-rotating state and stably descend at a reduced speed no matter how the initial posture is put.
(2) The distributor body only adopts a single actuator to control the flap to swing, thereby realizing the conversion of three stagnation modes of speed reduction, gliding and diving, and having the advantages of simple structure, convenient control, strong flexibility, good maneuvering performance and the like.
(3) The spreader individual simulates the falling mode of a natural wing under a deceleration mode, only the flap slightly swings under a gliding mode, and the submergence mode is similar to a free falling body; the three dead space modes have the advantages of small noise, good bionic performance, good hiding performance, strong anti-reconnaissance capability and the like.
(4) The individual dispensing device can carry a plurality of types of projectiles, is convenient to use, does not need manual control, can attack ground armor and armed personnel, can be used as a load platform to carry out load deployment on a specified place, can undertake a plurality of tasks, and has a wide application range.
Drawings
FIG. 1 is a structural composition diagram of a bionic single-wing distributing device for clustered top-attacking ammunition.
In the figure: 1-wing flap, 2-wing flap controller, 3-fuselage, 4-elastomer, 5-elastomer controller, 6-electronic system, 7-fuselage counterweight, 8-sensor, 9-sensor controller, 10-main wing, 11-wing flap counterweight, 12-main wing counterweight.
Figure 2 is a front view of the individual body of the dispenser of the present invention in a spinning state.
Fig. 3 is a schematic view of the individual flap swing of the spreader of the present invention.
Fig. 4 is a schematic view of the individual submerging mode of the spreader of the present invention.
Fig. 5 is a schematic diagram of the dead space mode conversion of the individual applicator of the present invention.
Fig. 6 is a schematic diagram of the operation process and the working state of the spreader cluster.
Fig. 7 is a diagram of a common cluster formation of the spreader cluster of the present invention, which includes rectangles, triangles and lines.
Fig. 8 is a schematic diagram of the adjustment of the formation of the spreader cluster according to the present invention.
Fig. 9 is an explanatory view of the swing angle of the individual flaps of the spreader of the present invention.
FIG. 10 is a schematic view of the relationship between individual flap control and glide direction of the spreader of the present invention.
Fig. 11 is a schematic diagram of the cyclic control function of the individual flaps of the spreader of the present invention.
In the above figures: omega 1 Spin level, Ω 2 Main wing plane, Ω 3 Flap plane, A 1 -a projectile axis, a 2 Sensor scan axis, R-spreader spin axis, O-spreader centroid, α 1 Angle of attack of the projectile, α 2 Sensor scan angle, beta-flap angle, gamma-flap angle of oscillation, gamma 1 First flap angle of oscillation, γ 2 Second flap angle of oscillation, γ 3 Third flap angle of oscillation, λ -spreader real-time azimuth, λ 1 -flap cyclic control starting azimuth angle, γ (λ) -flap cyclic control function, θ -glide azimuth angle.
Detailed Description
The bionic single-wing distributing device for the clustered top-attacking ammunition is further described in detail below by combining the attached drawings and the working principle of the invention.
The invention relates to a bionic single-wing distributor for clustered top-attacking ammunition, which is characterized in that a plurality of distributor individuals form a cluster, the cluster is carried to the upper space of a target through a piloting airplane and distributed in the cluster, and the distributor individuals can quickly and automatically generate spin and descend at a reduced speed when falling due to the pneumatic layout of the wing fruits of maple seeds in the nature; the distribution device cluster is provided with a real-time formation ' captain ', the captain ' communicates with a piloting plane and other distribution device individuals, each distribution device individual can be designated as the ' captain ', and the distribution device individuals communicate with each other through networking; the piloting plane is used for searching targets and controlling the formation change and maneuvering change of the cluster; the scatter cluster can change the formation of the network in a self-organizing way, adapt to the environment maneuvering change, search the target in a coordinated way, distribute the attack task, track the target and hide by itself.
As shown in figure 1, the bionic single-wing distributing device for the clustered top-attacking ammunition comprises a wing flap 1, a wing flap controller 2, a body 3, an ammunition body 4, an ammunition controller 5, an electronic system 6, a body counterweight 7, a sensor 8, a sensor controller 9, a main wing 10, a wing flap counterweight 11 and a main wing counterweight 12.
The body 3 is kept horizontal when the body spins and falls; the bomb body 4, the bomb controller 5, the electronic system 6, the sensor 8 and the sensor controller 9 are all arranged on the body 3;
the flap 1, the fuselage 3 and the main wing 10 are respectively and correspondingly provided with a flap balancing weight 11, a fuselage balancing weight 7 and a main wing balancing weight 12, and proper dynamics and kinematics characteristics are matched for the distributor individual by adjusting the mass size and the installation position of the flap balancing weight, so that the working stability of the distributor individual is ensured;
the main wing 10 and the flap 1 are both flat plate wings and are fixed on the same side of the fuselage 3, the flap 1 is positioned above the main wing 10, and the two wing profiles are designed according to the bionic wing flight principle and are used for providing main lifting force and self-spinning torque and ensuring that the spreader individual can quickly spin and stably decelerate to fall under any posture; the main wing 10 is fixedly connected with the fuselage 3 and is provided with a wing inclination angle beta, namely a spinning horizontal plane omega 1 With main wing plane omega 2 The included angle is used for improving the individual rotation stability of the spreader; the flap controller 2 is used for controlling the flap 1 to swing relative to the main wing 10 to generate a flap swing angle Y, namely a main wing plane omega 2 With the flap plane omega 3 The main wing 10 and the flap 1 are ensured to be attached along the intersecting line, so that the aerodynamic force and aerodynamic moment of the wing panel are controlled and changed in real time, and the individual body of the distributor is ensured to stably fall; the individual maneuvering performance of the spreader is realized by controlling the flap swing angle gamma;
as shown in fig. 2-3, the projectile 4 includes, but is not limited to, use of shaped energy projectiles or grenades; when using shaped charges, the influence of the charge axis, i.e. the charge axis A of the body, should be taken into account 1 And a distributorThe individual spin axes R intersect to form a certain included angle which is the attack angle alpha 1 Angle of attack of projectile α 1 Controlled by the cartridge controller 5; the projectile body 4 bears the main mass of the individual distributor, and the mass center of the projectile body 4 is positioned on the projectile body axis A by adjusting the mass ratio of each part in the individual distributor 1 The intersection point of the self-rotating shaft R and the mass center O of the individual distributor is coincident with the mass center O of the individual distributor, and the individual distributor can still ensure the rotation stability under the condition of changing the attack angle;
the sensors 8 include, but are not limited to, optical and acoustic sensors; when using a point-scan sensor, the effect of the scan axis, i.e. the sensor scan axis A, should be taken into account 2 The individual spin axes R of the spreader can be approximately intersected to form a certain included angle which is the scanning angle alpha 2 The scanning angle alpha of the sensor 2 Controlled by the sensor controller 9; the sensor scanning angle alpha 2 Angle of attack alpha to projectile 1 Varies approximately in the same plane; when the individual body of the spreader spins and falls, the scanning angle alpha is controlled 2 Spiral scanning search of a ground target area can be realized; when the target needs to be attacked, the bullet axis A of the bullet body is controlled 1 Sum sensor scanning axis A 2 Coaxially fixed, i.e. sensor scan angle alpha 2 Angle of attack alpha to projectile 1 Similarly, when the sensor 8 scans the target and triggers the projectile body 4, the target can be struck; when other types of sensors are used, scanning detection control is correspondingly carried out;
the electronic system 6 is used to control the clustering, detection and maneuvering of the individual dispensers; for the cluster, networking communication, collaborative search, attitude calculation and task allocation functions are included; for detection, the functions of target identification, coordinate positioning and scanning control are included; for maneuvering, flight control and environment monitoring functions are included;
as shown in fig. 4 to 5, the bionic single-wing distributor for the clustered top-attacking ammunition has three stagnation modes of a deceleration mode, a glide mode and a diving mode, and the conversion among different stagnation modes is realized by controlling the swing angle gamma of a flap;
the deceleration mode, i.e. the fixed flap swing angle γ within a certain range; due to the structure of the individual bionic wing of the spreader, the main wing 10 and the flap 1 are not on the same plane, and the wing pieces can generate a rotating torque, so that the spreader can spin independently and reduce the falling speed, and the spinning state has certain self-stability; different flap swing angles gamma have different rotating speeds and falling speeds corresponding to the individual distributors;
the glide mode is that the control flap swing angle gamma swings periodically within a certain range according to the spin cycle; because different flap swing angles gamma can generate different aerodynamic resultant forces and resultant moments, under the gliding mode, the flap swing angles gamma with periodic change can enable the distributor individual to generate circumferential unbalanced resultant force in a certain direction, and further enable the distributor individual to horizontally move while the distributor individual descends in a spinning deceleration mode, and gliding is achieved;
the dive mode, that is, the flap swing angle γ is increased, so that the main wing 10 is approximately perpendicular to the flap 1; at the moment, the self-spinning stall of the distributor body can be caused by insufficient lift force of the flap, the distributor body stops self-spinning and approximately falls vertically in a free-falling body due to the fact that mass is concentrated on the position of the projectile body 4, and the two mutually perpendicular wings can also prevent the distributor body from rotating due to inertia; after the flap swing angle gamma is recovered, the individual distributor enters a spinning state again and falls down stably at a reduced speed; in a diving mode, the individual scattering device can not detect the target and shoot because of stalling, falling and stopping spinning;
the deceleration mode can effectively improve the dead time of the individual distributor and improve the clustering and searching capacity; the gliding mode can improve the maneuvering capacity of the spreader individuals, realize the tracking search of the target and offset the yaw influence of the environmental crosswind on the spreader individuals;
the diving mode can rapidly improve the falling speed of the individual distributor, and realize target pursuit, self-stealth and passing through a gust area; the three dead space modes can be flexibly alternated and stably transformed;
as shown in fig. 6 to 8, the combat process of the bionic single-wing distributing device for clustered top-attacking ammunition according to the invention can be divided into three working states, namely a collaborative search state, a tracking state and a state to be triggered, wherein different working states have corresponding idle modes;
in the collaborative search state, the spreader individual uses a deceleration mode and a glide mode; after being thrown by a pilot plane, each distributor individual can immediately enter self-spinning and fall down in a deceleration way, inertia is eliminated by controlling the swing of a flap in a gliding mode, and the distributor individual is ensured to fall down vertically; after the distributor individuals are cooperatively networked, a proper cluster ' length ' is appointed according to the position coordinates of each distributor individual, the length ' is responsible for communicating with a pilot plane, deciding a cluster formation and sending the cluster formation to other distributor individuals, and the distributor individuals cooperate to use a deceleration mode and a glide mode to reach the appointed formation position after receiving an instruction; the sensor 8 starts to work while the individual spin of the spreader falls, and the scanning angle alpha of the sensor is changed 2 Realizing spiral scanning on a ground target area; the formation of the captain allocates a proper scanning area for each distributor individual, scanning result information is sent to the captain, and the captain determines whether to select the distributor as a target or not and needs to change the formation according to the scanning result and the detection result of the pilot aircraft;
the tracking state is that the single spreader individual uses a deceleration mode, a glide mode and a dive mode; after the distributor cluster determines a target, appropriate distributor individuals are assigned to track the attack, if the assigned distributors are 'queue lengths', the cluster team assigns a new 'queue length', and simultaneously, appropriate queue shapes are converted according to the reduction of the number of the cluster individuals; the individual distributor breaks away from a cluster team to track the target after receiving the tracking instruction, determines the target position in real time by using the sensor 8, and alternately uses a deceleration mode, a glide mode and a submergence mode according to the target position to approach the target at the highest speed;
in the state to be triggered, the spreader individual uses a deceleration mode and a glide mode; when the individual of the distributor approaches the target and enters the effective shooting range of the projectile body 4, the axis A of the projectile body can be controlled when the energy-collecting projectile is adopted 1 Sum sensor scanning axis A 2 Coaxially fixed and guaranteed in a stable spinning state, once the sensor 8 scans the target, it is immediately followed byTriggering the projectile body 4 to strike the target; when the grenade is adopted, the grenade immediately attacks in an effective attack range;
in order to ensure that the target is hit successfully, the spreader cluster distributes a plurality of spreader individuals for one target to perform tracking hitting; according to the distribution condition of the targets, the distributor cluster uses a rectangular queue, a triangular queue and a linear queue; if the scattering device cluster does not find other targets or the scattering device individuals lose targets when tracking the targets, the scattering device individuals trigger self-destruction after falling to the ground.
The individual distributor is divided into a plurality of pneumatic stress units, and the pneumatic stress units meet the following formula in the falling process:
in the above formula: m is i For the mass of each pneumatic unit, V ix 、V iy 、V iz Three-axis velocity component, U, of each pneumatic unit ix 、U iy 、U iz Respectively for each pneumatic sheetThree-axis relative wind velocity component of element, C ix 、C iy 、C iz Respectively representing the three-axis air resistance coefficient, S, of each pneumatic unit ix 、S iy 、S iz Respectively represents the three-axis windward area, sigma M, of each pneumatic unit ix 、∑M iy 、∑M iz Respectively representing the individual three-axis rotational moments of the dispenser, L ix 、L iy 、L iz Respectively representing the distance of three-axis resultant force of the individual spreader acting on the mass center, rho is air density, t represents time, and g represents gravity acceleration.
As shown in fig. 9 to 11, when the flap swing angle γ is at the first flap swing angle γ 1 To the second flap angle of oscillation gamma 2 In the middle, the spreader body can generate stable spin; when the flap swing angle gamma is larger than the third flap swing angle gamma 3 When the vehicle is running, the individual spreader can stall and enter a diving mode; the flap swing angle gamma is restored to the first flap swing angle gamma again 1 To the second flap angle of oscillation gamma 2 Meanwhile, the individual spreader will re-enter the stable spinning state. Under the gliding mode, the flap swinging angle gamma is subjected to periodic cycle control, and the cycle control function is gamma (lambda), so that the spreader individual can generate circumferential unbalanced force along the direction of the gliding direction angle theta to realize gliding; controlling the initial azimuth lambda by controlling the flap cycle 1 The gliding direction can be controlled to realize directional gliding.
Claims (6)
1. The utility model provides a bionical single wing of a ammunition of crowd attacking top cloth spills ware which characterized in that: a plurality of distributor individuals form a cluster, the distributor individuals are carried to the upper space of a target through a piloting airplane and are distributed in the cluster, the distributor individual simulates the pneumatic layout of the wings and fruits of the maple seeds in nature, so that the distributor individual can rapidly and automatically spin and descend at a reduced speed when falling; the distribution device cluster is provided with a real-time formation ' captain ', the captain ' communicates with a piloting plane and other distribution device individuals, each distribution device individual can be designated as the ' captain ', and the distribution device individuals communicate with each other through networking; the piloting plane is used for searching targets and controlling the formation change and the maneuvering change of the cluster; the scatter cluster can change the formation of the network in a self-organizing way, adapt to the environment maneuvering change, search the target in a coordinated way, distribute the attack task, track the target and hide by itself.
2. The bionic single-wing distributor of clustered top-attacking ammunition according to claim 1, wherein: the individual spreading device comprises a flap (1), a flap controller (2), a body (3), an elastomer (4), an elastomer controller (5), an electronic system (6), a body counterweight (7), a sensor (8), a sensor controller (9), a main wing (10), a flap counterweight (11) and a main wing counterweight (12);
the machine body (3) is kept horizontal when the machine body spins and falls; the bomb body (4), the bomb controller (5), the electronic system (6), the sensor (8) and the sensor controller (9) are all arranged on the body (3);
the flap (1), the fuselage (3) and the main wing (10) are respectively and correspondingly provided with a flap balancing weight (11), a fuselage balancing weight (7) and a main wing balancing weight (12), and proper dynamics and kinematics characteristics are matched for the distributor individual by adjusting the mass size and the installation position of the flap balancing weight, the fuselage balancing weight and the main wing balancing weight, so that the working stability of the distributor individual is ensured;
the main wing (10) and the flap (1) are both flat wings and are fixed on the same side of the fuselage (3), the flap (1) is positioned above the main wing (10), and the two wing profiles are designed according to the bionic wing flight principle and are used for providing main lift force and self-spinning torque and ensuring that the spreader individual can quickly enter self-spinning and stably decelerate to fall under any posture; the main wing (10) is fixedly connected with the machine body (3) and is provided with a wing piece inclination angle beta, namely a spinning horizontal plane omega 1 With main wing plane omega 2 The included angle is used for improving the individual rotation stability of the spreader; the flap controller (2) is used for controlling the flap (1) to swing relative to the main wing (10) to generate a flap swing angle gamma, namely a main wing plane omega 2 With the flap plane omega 3 The main wing (10) and the flap (1) are attached along the intersecting line, so that the aerodynamic force and aerodynamic moment of the wing panel are controlled and changed in real time, and the individual body of the distributor is ensured to fall stably; the individual maneuvering performance of the spreader is realized by controlling the flap swing angle gamma;
the electronic system (6) is used for controlling the clustering, detection and maneuvering of the individual dispensers; the cluster comprises networking communication, collaborative search, attitude calculation and task allocation functions; for detection, the functions of target identification, coordinate positioning and scanning control are included; and the maneuvering system comprises flight control and environment monitoring functions.
3. The clustered top-attacking ammunition bionic single-wing spreader according to claim 2, characterized in that: the projectile (4) includes but is not limited to the use of shaped or grenades; when using shaped charges, the influence of the charge axis, i.e. the charge axis A of the body, should be taken into account 1 The included angle formed by intersecting with the individual spin axes R of the spreader is the attack angle alpha 1 Angle of attack of projectile α 1 Controlled by a bomb controller (5); the projectile body (4) bears the main mass of the individual distributor, and the mass center of the projectile body (4) is positioned on the projectile body axis A by adjusting the mass ratio of each part in the individual distributor 1 The intersection point of the rotating shaft R and the mass center O of the spreader is coincident with the individual rotating shaft R of the spreader, and the change of the attack angle alpha is ensured 1 Under the condition of (2), the individual distributor can still ensure the rotation stability; when the grenade is used, the individual distributor is controlled to be close to the target, and the target can be destroyed by firing when the grenade enters an effective striking range.
4. The bionic single-wing distributor of clustered top-attacking ammunition according to claim 2, wherein: the sensors (8) include, but are not limited to, optical and acoustic sensors; when using a point-scan sensor, the influence of the scan axis, i.e. the sensor scan axis A, should be taken into account 2 Approximately intersects with the individual spin axis R of the spreader to form a certain included angle which is the scanning angle alpha 2 The sensor scanning angle alpha 2 Controlled by a sensor controller (9); the sensor scanning angle alpha 2 Angle of attack alpha to projectile 1 Varies approximately in the same plane; when the individual body of the spreader spins and falls, the scanning angle alpha is controlled 2 Realizing spiral scanning search of a ground target area; when the target needs to be attacked, the bullet axis A of the bullet body is controlled 1 Sum sensor scanning axis A 2 Coaxially fixed, i.e. sensor scan angle alpha 2 Angle of attack alpha to projectile 1 In the same way, the first and second,when the sensor (8) scans the target and triggers the projectile body (4), the target is struck; when other types of sensors are used, scanning detection control is performed correspondingly.
5. The bionic single-wing distributor of clustered top-attacking ammunition according to claim 1, wherein: the distributor body is provided with three stagnation modes of a deceleration mode, a glide mode and a diving mode, and the conversion among different stagnation modes is realized by controlling the swing angle gamma of the flap;
the deceleration mode, i.e. the fixed flap swing angle γ within a certain range; due to the structure of the individual bionic wing fruit of the spreader, the main wing (10) and the flap (1) are not on the same plane, the wing pieces can generate a rotating torque, so that the spreader can spin independently and reduce the falling speed, and the spinning state has certain self-stability; different flap swing angles gamma have different rotating speeds and falling speeds corresponding to the individual distributors;
the glide mode is that the control flap swing angle gamma swings periodically within a certain range according to the spin cycle; because different flap swing angles gamma can generate different aerodynamic resultant forces and resultant moments, under the gliding mode, the flap swing angles gamma with periodic change can enable the distributor individual to generate circumferential unbalanced resultant force in a certain direction, and further enable the distributor individual to horizontally move while the distributor individual descends in a spinning deceleration mode, and gliding is achieved;
the diving mode is that the flap swing angle gamma is increased, so that the main wing (10) is approximately vertical to the flap (1); at the moment, the self-spinning stall of the distributor body can be caused by insufficient lift force of the flap, the distributor body stops self-spinning and falls vertically like a free-falling body due to more mass concentrated at the position of the projectile body (4), and the two mutually perpendicular wings can also prevent the distributor body from rotating due to inertia; after the flap swing angle gamma is recovered, the individual distributor enters a spinning state again and falls down stably at a reduced speed; in the diving mode, the individual scattering device can not detect the target and shoot because the individual scattering device stalls and falls down and stops spinning;
the deceleration mode can effectively improve the dead time of the individual distributor and improve the clustering and searching capacity; the gliding mode can improve the maneuvering capacity of the spreader individuals, realize the tracking search of the target and offset the yaw influence of the environmental crosswind on the spreader individuals;
the diving mode can rapidly improve the falling speed of the individual distributor, and realize target pursuit, self-stealth and passing through a gust area; the three stagnant space modes are flexibly alternated and stably transformed.
6. The bionic single-wing distributor of clustered top-attacking ammunition according to claim 1, wherein: dividing the dispenser into three working states, namely a collaborative searching state, a tracking state and a to-be-triggered state according to the combat process of the dispenser, wherein different working states have corresponding idle modes;
in the collaborative search state, the spreader individual uses a deceleration mode and a glide mode; after being thrown by a pilot plane, each distributor individual can immediately enter self-spinning and fall down in a deceleration way, and inertia is eliminated by controlling the swing of flaps in a gliding mode, so that the distributor individual is ensured to fall down vertically; after the distributor individuals are cooperatively networked, a proper cluster ' length ' is appointed according to the position coordinates of each distributor individual, the length ' is responsible for communicating with a pilot plane, deciding a cluster formation and sending the cluster formation to other distributor individuals, and the distributor individuals cooperate to use a deceleration mode and a glide mode to reach the appointed formation position after receiving an instruction; the sensor (8) starts to work when the individual of the spreader spins and falls down, and the scanning angle alpha of the sensor is changed 2 Realizing spiral scanning on a ground target area; the formation control of the captain allocates a proper scanning area for the individual distributor, scanning result information is sent to the captain, and the captain determines whether to select the target and needs to change the formation according to the scanning result and the pilot aircraft detection result;
the tracking state is that the single spreader individual uses a deceleration mode, a glide mode and a dive mode; after the distributor cluster determines a target, appropriate distributor individuals are assigned to track the attack, if the assigned distributors are 'queue lengths', the cluster team assigns a new 'queue length', and simultaneously, appropriate queue shapes are converted according to the reduction of the number of the cluster individuals; the individual distributor breaks away from a cluster team to track the target after receiving the tracking instruction, determines the target position in real time by using a sensor (8), and alternately uses a deceleration mode, a glide mode and a submergence mode according to the target position to approach the target at the highest speed;
in the state to be triggered, the spreader individual uses a deceleration mode and a glide mode; when the individual of the distributor approaches the target and enters the effective shooting range of the projectile body (4), the axis A of the projectile body is controlled when the energy-collecting projectile is adopted 1 Sum sensor scanning axis A 2 The sensor is coaxially fixed and ensures a stable spinning state, and once the sensor (8) scans a target, the sensor triggers the elastomer (4) to strike the target; when the grenade is adopted, the grenade immediately attacks in an effective attack range;
in order to ensure that the target is hit successfully, the spreader cluster distributes a plurality of spreader individuals for one target to perform tracking hitting; according to the distribution condition of the targets, the distribution device cluster uses a rectangular formation, a triangular formation and a linear formation; if the scattering device cluster does not find other targets or the scattering device individuals lose targets when tracking the targets, the scattering device individuals trigger self-destruction after falling to the ground.
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